5. Commissioning
MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 86
To avoid potentially hazardous situations as a consequence of the Muted personnel detection
means, you must mark the physical area around with tape or similar marking material.
The speed in operating hazard zones shall be reduced to 0,3 m/s.
For more information on Personnel detection means, see the MiR Fleet PC
User guide.
Marking the operating hazard zone
The size of the operating hazard zone is based on the robot’s path going to and takes into
account that the robot may have to make a turn of up to 90° when docking to .
Figure 5.3 illustrates where the floor markings should be for a single .
Figure 5.3. The floor around must be marked to indicate an operating hazard zone, illustrated by the striped
yellow and black line.
CAUTION
If you want to dock and/or undock to the from both ends, or if you want to
undock the by going forward, the operating hazard zone needs to be of equal
size on both ends of the .
5.4 Creating and configuring a map
It is vital to create a robust, reliable map for the robot, as the map is the basis for the robot's
ability to safely and efficiently navigate its surroundings.
To create a new map, you drive the robot around its intended work environment while its
sensors gather data to generate a map from. This process is known as mapping.
As the robot moves during mapping, the laser scanners detect physical obstacles that will be
recorded in the map as walls. In the editing afterward, you can remove all obstacles that
should not stay on the map, for example carts or boxes that were present at the time of
recording but will not stay permanently.
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